Automated bag gripping device

ABSTRACT

A robotically-operated gripping device is provided and includes a frame assembly, a vacuum device, a clamping device, and a robotic arm. The vacuum device is connected to the frame assembly and configured to selectively attach to and position at least a portion of an object. The clamping device is connected to the frame assembly and provided for selectively clamping the object attached to the vacuum device. The robotic arm is connected to the frame assembly and provided for selectively positioning the vacuum device and the gripping device.

FIELD OF THE INVENTION

The present invention relates to a bag gripping device, and moreparticularly, to a bag gripping device configured for use with a roboticarm.

BACKGROUND

Flexible containers, for example storage bags, are commonly handled bymechanical devices in facilities in high volumes and at rapid speeds.Such facilities may include a food manufacturing plant, a restaurant, orother distribution or handling facilities. An inherent problem withknown handling devices is that for flexible bags that are difficult tograsp, damage may occur due to the application of too great a pressureor force on the product. These bags are not generally mechanicallystrong or resilient to compressive forces, or become shapened in such away that makes them difficult to grasp. The bags are often non-uniformin shape, and have different surface textures or levels of lubricity.

Likewise, when bags experience excessive handling, product defects occursuch as tearing, compaction, and crushing, and the end result may bethat the food product in the bag is unusable for its intended purpose.Such bag handling concerns result in unacceptable amounts of productwaste or damaged product as a result of the state of the art handling.On a commercial scale, such product handling challenges createinefficiency and increased manufacturing cost. What is needed is agripping device that permits bags filled with product, such as food, tobe quickly and efficiently handled while minimizing damaged or lost foodproduct due to handling difficulties.

Furthermore, industries of all types are using robotic techniques forreasons of efficiency, precision, sanitation and productivity. In thefood industry, and particularly in the field of processed foods,robotics are of use in moving foods from one part of a production streamto another and ultimately into suitable packaging. However, knownrobotic tools have proved inadequate to the handling of flexiblepackaging, such as bags. Known devices have not provided sufficientlydelicate handling which results in wasted product and increased costs tothe manufacturer.

Therefore, there is a need for an automated bag gripping device thatpermits the handling of flexible packaging for food products in a waythat maintains the integrity and appearance of the packaging.

SUMMARY

A robotically-operated gripping device according to the presentdisclosure includes a vacuum device configured to selectively attach toand position at least a portion of an object, such as a bag of a foodproduct. A clamping device is provided for selectively clamping theobject once attached and positioned by the vacuum device. A robotic armis provide for selectively positioning the vacuum device and thegripping device as a single unit.

In another embodiment, a system for transporting an object, such as aflexible bag and associated product, is provided. The system generallyincludes a vacuum element having a suction end. The suction end ismoveable from a first position to a second position in response to anegative pressure supplied thereto. The system further includes aclamping device having a pair of opposable clamping arms. The clampingarms are configured to selectively clamp a portion of the object whenthe suction end of the vacuum element is in the second position.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will now be described by way of example with reference tothe accompanying figures, of which:

FIG. 1 is a perspective view of a bag gripping device according to thepresent disclosure, shown attached to a known robotic arm;

FIG. 2 is a front view of a bag gripping device according to the presentdisclosure;

FIG. 3 is a partial perspective view of the bag gripping device of FIG.2 ;

FIG. 4 is a side sectional of the bag gripping device of FIG. 2 ;

FIG. 5 is a partial perspective view of the bag gripping device of FIG.2 upon activation thereof;

FIG. 6 is a side sectional of the bag gripping device of FIG. 5 ;

FIG. 7 is a perspective view of the bag gripping device of FIG. 5 uponfurther activation thereof;

FIG. 8 is a side sectional of the bag gripping device of FIG. 7 ;

FIG. 9 is a close up side view of the bag gripping device of FIG. 7 uponactivation of further activation thereof;

FIG. 10 is a close up of the bag gripping device of FIG. 9 showinggripping of a flexible container between a pair of griping membersaccording to the present disclosure;

FIG. 11 is a side sectional of the bag gripping device of FIG. 2 showingone of a pair of vacuum elements according to the present disclosure;

FIG. 12 is another side sectional of the bag gripping device of FIG. 11showing activation of one of a pair of vacuum elements according to thepresent disclosure; and

FIG. 13 is a perspective exploded view of a bag gripping deviceaccording to the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENT(S)

Exemplary embodiments of the invention will be described hereinafter indetail with reference to the attached drawings, wherein like referencenumerals refer to like elements. The invention may, however, be embodiedin many different forms and should not be construed as being limited tothe embodiments set forth herein; rather, these embodiments are providedso that the present disclosure will be thorough and complete, and willfully convey the concept of the disclosure to those skilled in the art.

Now with reference to the figures, an exemplary automated bag grippingassembly according to the present disclosure will be described. Withreference to FIG. 1 , in an exemplary embodiment of the invention, agripping device or assembly 1 is used in operation to, for example, movea flexible storage bag of food product 2 from one surface (e.g., aconveyor 4) to another, and more particularly from a stage of aproduction process to a packaging or storage stage. The exemplarygripping assembly 1 generally includes a frame assembly 10, a hingeassembly 30, a pneumatic assembly 60, a vacuum assembly 70 and a roboticarm assembly 80, the details of which are set forth herein.

As illustrated in FIGS. 1-3 , in one embodiment the frame assembly 10includes a plurality of interconnected frame members including anelongated base member 12, an elongated robotic arm attachment member 14,and a pair of vertically-arranged elongated support members 16 arrangedproximate respective ends of the base member 12 and extending generallybetween the base member 12 and the robotic arm attachment member 14. Theframe assembly 10 may define an interior space 11 between the framemember through which portions of the pneumatic assembly 60 and the hingeassembly 30 may be arranged. In the illustrated embodiments, each framemember is a square cross-sectional profile member, wherein a pluralityof slots (e.g., “T” slots) are formed in and along each side thereof.The frame members may be formed from extruded material, such as extrudedaluminum. As illustrated, the frame members may be attached to oneanother via a plurality of support brackets or gussets and accompanyingfasteners engaged with the respective slots, the details of which havebeen omitted for brevity herein. Of course, it should be understood thatthe frame members may be attached to one another by any suitable means,or may be formed wholly or partly monolithically, without departing fromthe scope of the present disclosure.

With particular reference to FIGS. 3 and 4 , the hinge assembly 30according to an embodiment of the invention generally includes a pivotbracket 31 having a first end 32 which may be configured as a pair offlanges for attaching to the base member 12. The pivot bracket 31further includes a second end 33, which also may be configured as a pairof flanges, for accepting and pivotally connecting to a first hinge arm34 and a second hinge arm 37. The first hinge arm 34, in the shownembodiment, is an “L” shaped arm member having a pivoting arm portion 35and a clamp mounting portion 36 extending generally perpendicularly froman end of the pivoting arm portion 35. Similarly, the second hinge arm37, in the embodiment shown, is an “L” shaped arm having a pivoting armportion 38 and a clamp mounting portion 39 extending generallyperpendicularly from an end of the pivoting arm portion 38.

As shown, the first and second hinge arms 34, 37 are each pivotallyconnected to the pivot bracket 31 via, for example, a shoulder boltpassing through an aperture of each hinge arm 34, 37 and a correspondingaperture of the pivot bracket 31, securing the hinge arms 34, 37 betweenthe flanges of the second end 33. See also FIG. 13 . The first hinge arm34 and the second hinge arm 37 may also be moveably coupled to oneanother. More specifically, the pivoting arm portion 35 of the firsthinge arm 34 may define flanges on an end thereof configured to receivetherein a correspondingly sized end of the pivoting arm portion 38 ofthe second hinge arm 37. A pin 40 may be arranged through respectiveapertures 41, 42 formed through the ends of the pivoting arm portions35, 38, such that the first hinge arm 34 and the second hinge arm 37 arepivotally connected. At least one of the apertures 41, 42 may include aslotted or elongated opening, providing a further slideable connectionbetween the first hinge arm 34 and the second hinge arm 37 as the pin 40translates within the slot. The slotted connection between the first andsecond hinge arms 34, 37 forms a mechanical stop, limiting the allowablerotation of the first hinge arm 34 and the second hinge arm 37 relativeto the pivot bracket 31, as illustrated in FIGS. 4, 6, and 8 .

The hinge assembly 30 further includes two similar or identical clampsubassemblies arranged on either end of the clamp mounting portions 36,39 of the first and second hinge arms 34, 37. Specifically, eachsubassembly, in the shown embodiment, includes a clamp support bracket50 configured to attach to one of the clamp mounting portions 36, 39. Inthe exemplary embodiment, the clamp support bracket 50 includes a “T”shaped bracket including a base 51 connected to one of the clampmounting portions 36, 39, and a grip mounting portion 52 extendinggenerally perpendicularly from an end of the base 51. Respectivegripping members 54 are attached to the grip mounting portions 52, andmay extend generally perpendicularly from longitudinal axes of the firstand second clamp mounting portions 36, 39. A generally planar clampingface or surface of each gripping member 54 extends generally parallel toa direction of an axis of the base member 12.

As shown in more detail in FIGS. 8-10 , each gripping member 54 may befitted with a grip cover 56 arranged over a free end thereof. The gripcovers 56 are configured to provide a uniform, high friction surfacesuitable for safely gripping a product there between, while mitigatingdamage (e.g., scratches and rips) to the product 2. The grip covers 56may be formed from any suitable material, for example, rubber, as wellas in any suitable size and shape for accommodating differing producttypes. In the exemplary embodiment, the grip covers 56 are secured incompression to respective ends of each gripping member 54 via a pair ofcover plates 58 arranged on either side of the gripping member 54 andassociated fasteners. With reference to FIG. 13 , the grip covers 56 mayinclude slotted apertures 57 formed therein. In this way, the gripcovers 56 may be removed and/or replaced without the need to fullyremove the cover plates 58 and associated fasteners from each grippingmember 54, facilitating ease of maintenance and repair.

Referring again to FIGS. 3, 4 and 13 , the pneumatic assembly 60generally comprises an actuator 62 (e.g., a linear actuator embodied asa pneumatic cylinder) including a piston 63 moveable with respect to acylinder 64. The actuator 62 is coupled to the hinge assembly 30 viafirst and second actuator brackets 43, 44 disposed on and attached to(or formed with) a respective one of the first and second hinge arms 34,37. Each actuator bracket 43, 44 is configured to connect to and supportan end of the actuator 62 of the pneumatic assembly 60. As illustrated,the first actuator bracket 43 is arranged on the first hinge arm 34 andis pivotally connected to an end of the moveable piston 63 of theactuator 62, while the second actuator bracket 44 is pivotally connectedto an end of the cylinder 64 of the actuator 62. The actuator 62 isconnected to a supply of pressurized fluid (not shown), via theillustrated ports 66, 68 and supply lines 67 (see FIG. 1 ). As would beunderstood by one or ordinary skill in the art, the selectiveapplication of pressurized fluid to either end of the cylinder 64 of theactuator 62 is operative to extend or retract the piston 63, and in turnpivot the first and the second hinge arms 34, 37 relative to the pivotbracket 31. See FIGS. 6 and 8 , for example. While a pneumatic actuatoris shown, it should be understood that any suitable type of actuator(s)(e.g., two electric rotary actuators) may be used to achieve thedescribed motion of the first and second hinge arms 34, 37 withoutdeparting from the scope of the present disclosure.

With reference to FIGS. 1, 3 and 11 , the vacuum assembly 70 isconfigured to selectively attach to a product to be moved via suction,and generally includes a first vacuum device or element 71 and a secondvacuum device or element 72. The vacuum elements 71, 72 may beselectively slideably attached to the base member 12 by the illustratedassociated fasteners and accompanying brackets. In one embodiment, thevacuum elements 71, 72 are arranged generally in-line with each otheralong an axis of the base member 12, or along a plane defined throughthe axis of the base member 12. It should be understood that theabove-described gripping members 14 are configured to converge towardthis central plane, and thus, toward a portion of the product 2 raisedby and between the vacuum elements 71, 72, as set forth in greaterdetail herein.

Referring to FIGS. 11 and 12 , each vacuum element 71, 72 comprises abody 73 defining an aperture 74 formed therethrough. The aperture 74 isplaced in selective communication with a source of negative pressure orvacuum, such as a vacuum pump (not shown) via the illustrated port 75.Sealably attached to an end of the body 73 is a flexible bellows 76. Thebellows 76 defines an interior space 77 in fluid communication with theaperture 74. A sealing cup 79 of the bellows 76 defines an open end 78,and is configured to form an air-tight or sealable connection with theproduct 2 to be lifted. As illustrated, once the sealing cup 79 of thebellows 76 is placed into contact with a surface of the product 2, thepresence of vacuum pressure within the bellows 76 is operable to createa seal with the product 2, and retract the bellows 76 from an extendedor resting position illustrated in FIG. 11 , to a contracted orretracted position shown in FIG. 12 . As the bellows 76 is contracted,it lifts at least a portion of the product 2 vertically, therebycreating a raised deformation in at least a portion of the product 2 inan area between the vacuum elements 71, 72, which may be more easily andsecurely captured by the above-described clamping assembly 30. Moreover,as each of the vacuum elements 71, 72 supports some of the weight of theproduct 2, less strain is put on the product by the clamping assembly 30during a subsequent lifting and moving operation performed by therobotic arm assembly 80.

Referring again to FIG. 1 , the robotic arm assembly 80 includes anarticulating arm or arms 81 capable of selective motion along at leastthree axes. Operation of the robotic arm assembly 80 may be controlledmanually, or may be automated, as would be understood by one of ordinaryskill in the art. The robotic arm assembly 80 further includes a bracket82 (see FIGS. 2 and 3 ) for attaching the robotic arm 81 to the roboticarm attachment member 14 of the frame assembly 10. This attachment maybe selectively slideable along the length of the arm attachment member14 and fixable in place as desired. Further details regarding thestructure and function of robotic arm(s) are known in the art, and willnot be described in further detail herein for the purpose of brevity.

It should be understood that any or all of the above-describedcomponents, including the components of the frame assembly 10 and thehinge assembly 30, may be formed integrally with one another, or may beformed separately, and connected to one another in the illustratedmanner without departing from the scope of the present invention. Viathe use of slotted frame members, it should be understood that theclamping assembly 30 as well as the components of the vacuum assembly 70may be slideably repositioned along the length of the base member 12 inany suitable position, facilitating quick and easy reconfiguration ofthe gripping assembly 1 to, for example, accommodate a plurality ofdifferent product types.

A method of lifting a product with a gripping device or assemblyaccording to embodiments of the present disclosure will be described indetail with respect to FIGS. 3-10 .

Referring to FIGS. 3 and 4 , the gripping assembly 1 may be positionedvia the robotic arm assembly 80 over a desired area of the product 2 tobe lifted. Once arranged over the product 2, the robotic arm assembly 80may lower the vacuum elements 71, 72 into contact with a surface of theproduct 2. The system may utilize positioning technology to determinethe position and orientation of the product with respect to thecomponents of the gripping assembly 1. In an embodiment of theinvention, an optical positioning system (not shown) uses known cameras,beacons and/or sensors to identify position of the product 2, and thenpositions the gripping assembly 1 with respect to thereto in theillustrated manner. In a further exemplary embodiment, the opticalpositioning system uses machine vision to provide imaging-basedautomatic inspection and analysis for such applications as automaticinspection, process control, and robotic arm guidance.

With reference to FIGS. 4, 5 and 6 , the selective application of avacuum pressure supplied to the vacuum elements 71, 72 creates asuction-induced seal between the sealing cup 79 of the vacuum elements71, 72 and the product 2. Of course, the application of vacuum may beinitiated manually, or by an automated control system, as would beunderstood by one of ordinary skill in the art. Continued application ofvacuum draws the bellows 76 of each of the vacuum elements 71, 72 into acontracted position, lifting adjacent surfaces of the product 2 into anelevated position between the vacuum elements more suitable for clampingor gripping by the gripping members 54 of the clamping assembly 30, asshown in FIGS. 5 and 6 .

With reference to FIGS. 7-10 , once the product 2 is suitably positionedby the vacuum elements 71, 72, pressurized fluid may be provided to theactuator 62 for biasing the gripping members 54 into a closed orclamping position. The supply of pressurized fluid to the appropriateport of the actuator 62 may be initiated manually, or by an automatedcontrol system, as would be understood by one of ordinary skill in theart. As shown in greater detail in FIGS. 9 and 10 , a portion of theproduct 2 (i.e., its bag) is captured securely between the opposinggripping members 54 and covers 56 thereof. With reference to FIG. 9 , aremainder of the product 2 not captured by the gripping members 54remains held by the vacuum elements 71, 72, reducing the stress on theproduct material held between the gripping members 54 during asubsequent lifting and relocating operation of the product 2 by therobotic arm assembly 80.

In this way, the gripping assembly 1 according to embodiments of thepresent disclosure enables a user to move the product 2 from a firstposition to a second position while maintaining its integrity andappearance. As the integrity and appearance of the product is retained,product waste is reduced. As set forth above, embodiments of the presentdisclosure may be particularly useful for transporting a product from afinal stage of a production process to a further packaging or storagestage. However, the gripping assembly described herein may additionallybe used at other stages where its capabilities are advantageous.

The foregoing illustrates some of the possibilities for practicing theinvention. Many other embodiments are possible within the scope andspirit of the invention. It is, therefore, intended that the foregoingdescription be regarded as illustrative rather than limiting, and thatthe scope of the invention is given by the appended claims together withtheir full range.

Also, the indefinite articles “a” and “an” preceding an element orcomponent of the invention are intended to be nonrestrictive regardingthe number of instances, that is, occurrences of the element orcomponent. Therefore “a” or “an” should be read to include one or atleast one, and the singular word form of the element or component alsoincludes the plural unless the number is obviously meant to be singular.

The term “invention” or “present invention” as used herein is anon-limiting term and is not intended to refer to any single embodimentof the particular invention but encompasses all possible embodiments asdescribed in the application.

What is claimed is:
 1. A robotically-operated gripping devicecomprising: a frame assembly; a vacuum device positioned on the frameassembly and configured to selectively attach to and position at least aportion of an object, the vacuum device is configured to lift the objectin a vertical direction from a resting position into a clampingposition, wherein the vacuum device includes a first vacuum device and asecond vacuum device positioned apart from each other along the frameassembly; a clamping device positioned on the frame assembly andconfigured to selectively clamp the object attached to the vacuumdevice, the clamping device is configured to clamp the object in an areagenerally between the first vacuum device and the second vacuum devicewhen the object is in the clamping position; and a robotic armconfigured to selectively position the frame assembly.
 2. Therobotically-operated gripping device of claim 1, wherein the vacuumdevice includes a sealing end cup with a flexible bellows extendingthere from.
 3. The robotically-operated gripping device of claim 1,wherein, in response to a supply of negative pressure, the vacuum deviceis configured to create a seal between the sealing end cup and a portionof the object, and retract the bellows so as to bias the sealing end cupfrom a resting position to a retracted position.
 4. Therobotically-operated gripping device of claim 3, wherein the firstvacuum device is arranged in-line with the second vacuum device and aclamping surface of the clamping device extends in a direction generallyparallel to a direction of a plane defined through the first vacuumdevice and a second vacuum device.
 5. The robotically-operated grippingdevice of claim 1, wherein the clamping device includes a first clampingarm, a second clamping arm positioned opposite the first clamping armwith respect to the frame assembly, and an actuator configured toselectively bias at least one of the first clamping arm or the secondclamping arm between an open position and a clamped position.
 6. Therobotically-operated gripping device of claim 5, wherein the firstclamping arm and the second clamping arm are pivotally connected to theframe assembly.
 7. The robotically-operated gripping device of claim 6,wherein the first clamping arm is pivotally and slideably connected tothe second clamping arm.
 8. The robotically-operated gripping device ofclaim 6, wherein the clamping device and the vacuum device areselectively slideably connected to the frame assembly.
 9. Therobotically-operated gripping device of claim 5, wherein the actuatorincludes a linear actuator.
 10. The robotically-operated gripping deviceof claim 9, wherein a first moveable end of the actuator is pivotallyconnected to the first clamping arm, and a second end of the actuator ispivotally connected to the second clamping arm.